Disturbance observer–based adaptive boundary layer sliding mode controller for a type of nonlinear multiple‐input multiple‐output system

• Published in: International journal of robust and nonlinear control Vol. 29; no. 17; pp. 5886 - 5912
• Main Authors: Gandikota, Gurumurthy, Das, Dushmanta Kumar
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 25.11.2019
• Subjects: adaptive boundary layer sliding mode controller (ABLSMC); adaptive sliding mode controller (ASMC); Adaptive systems; Boundary layers; Control stability; Control systems design; Controllers; Disturbance observers; MIMO (control systems); multiple‐input multiple‐output (MIMO); Nonlinear systems; Sliding mode control; System effectiveness
• ISSN: 1049-8923; 1099-1239
• DOI: 10.1002/rnc.4701

Summary In this paper, a disturbance observer–based adaptive boundary layer sliding mode controller (ABLSMC) is proposed to compensate external disturbance and system uncertainty for a class of output coupled multiple‐input multiple‐output (MIMO) nonlinear systems. To show the effectiveness of the proposed ABLMSC, a traditional adaptive sliding mode controller (ASMC) is also designed. The stability of the closed‐loop system is examined by using the Lyapunov stability approach. The proposed control approach is implemented for a class of nonlinear output coupled MIMO systems. For real‐time validation, a coupled tank system is considered for study. Finally, simulation and real‐time results show that the proposed ABLMSC gives better performance such as reduced chattering and energy efficiency than that of the ASMC and some reported works in the literature.